PowerVault ML6000 Maintenance Guide 203
T008
T008 - Cannot Home, Motion OK
Description GUI Description: The robot can move, but cannot establish its home position
correctly.
Explanation: Robot motion and servo control appear normal, but home
sensors do not transition when the robot is moved through prescribed search
distances and times.
Detection Scenarios • X home sensor does not transition while homing
• Y home sensor does not transition while homing
• θ home sensor does not transition while homing
• Z home sensor does not transition while homing
Root Causes • Malfunctioning home sensors.
• Missing or damaged mechanical flags that trigger home sensors.
• Hardware failures that result in apparent normal motion according to
encoders, but no actual motion (for example, slipping gears).
• Robot parking tab is interfering with Y-axis travel of the robot.
• Robot assembly is not placed properly into Y-climber rails, resulting in an
unleveled robot when moving along the Y-rails.
• Y-rails are not secured correctly, causing the robot Y-carriage to become
unleveled when moving between modules.
Service Resolution
Steps
1 Perform DR028 -
Resolve Motion Obstruction on page 379.
2 Open the main door and inspect the picker path to ensure that no
obstructions are visible. Check the Y-climber and picker for any packaging
material still left in place.
3 If it is a 6020 or 6030 configuration, recheck all internal picker rails and make
sure they are locked into place between each CM and EM.
4 Look at the bottom of the unit and inspect the bottom cover plate to ensure
that the black home position tab is still present.
5 Clear the RAS ticket and retry the original operation.
6 If using library firmware 400G or later, run an IVT - Robot test through the
Library Tests option in the operator panel.
Note: IVT is optimized for library firmware versions 520G and above and
libraries built after July 1, 2008 (serial numbers with last four digits 8602 and
above).
• If your library was built on or before July 1, 2008, and you are running
firmware version 520G or later, you will not be able to run the IVT test, even
though the selection is available.
• If your library was built on or before July 1, 2008, and you are running
firmware version 500G or earlier, you can run the test, but it is not
recommended because it may produce erroneous results.
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